limp: English has two words limp, which perhaps share a common ancestry. Neither is particularly old. The verb first crops up in the 16th century (until then the word for ‘walk lamely’ had been halt, which now survives, barely, as an adjective). It was probably adapted from the now obsolete adjective limphalt ‘lame’, a descendant of Old English lemphealt (which goes back ultimately to Indo-European *lomb-). The adjective limp is first recorded in the 18th century, and in view of the common meaning element ‘lack of firmness, infirmity’ it seems likely that it is related to the verb.
